clean up

so picky
relc
2026-06-12 05:16:06 +08:00 · 2026-05-15 18:54:31 -07:00 · 2026-05-15 18:24:26 -07:00 · 2026-05-15 18:24:00 -07:00 · 2026-05-14 02:24:09 -04:00 · 2026-05-13 01:29:18 -04:00
39 changed files with 560 additions and 357 deletions
--- a/.github/workflows/cereal_validation.yaml
+++ b/.github/workflows/cereal_validation.yaml
@@ -23,56 +23,43 @@ env:
  CI: 1

 jobs:
-  generate_cereal_artifact:
-    name: Generate cereal validation artifacts
-    runs-on: ubuntu-24.04
-    steps:
-      - uses: actions/checkout@v6
-        with:
-          submodules: true
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        run: scons -j$(nproc) cereal
-      - name: Dump sunnypilot schema
-        run: |
-          export PYTHONPATH=${{ github.workspace }}
-          python3 cereal/messaging/tests/validate_sp_cereal_upstream.py -g -f schema.json
-      - name: 'Prepare artifact'
-        run: |
-          mkdir -p "cereal/messaging/tests/cereal_validations"
-          cp cereal/messaging/tests/validate_sp_cereal_upstream.py "cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py"
-          cp schema.json "cereal/messaging/tests/cereal_validations/schema.json"
-      - name: 'Upload Artifact'
-        uses: actions/upload-artifact@v4
-        with:
-          name: cereal_validations
-          path: cereal/messaging/tests/cereal_validations
-
  validate_cereal_with_upstream:
    name: Validate cereal with Upstream
    runs-on: ubuntu-24.04
-    needs: generate_cereal_artifact
    steps:
-      - name: Checkout sunnypilot
+      - name: Checkout sunnypilot cereal
        uses: actions/checkout@v6
-      - name: Checkout upstream openpilot
+        with:
+          sparse-checkout: cereal
+
+      - name: Init sunnypilot opendbc submodule
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Checkout upstream openpilot cereal
        uses: actions/checkout@v6
        with:
          repository: 'commaai/openpilot'
-          path: openpilot
-          submodules: true
+          path: upstream_openpilot
+          sparse-checkout: cereal
          ref: "refs/heads/master"
-      - run: ./tools/op.sh setup
-      - name: Build openpilot
-        working-directory: openpilot
-        run: scons -j$(nproc) cereal
-      - name: Download build artifacts
-        uses: actions/download-artifact@v4
-        with:
-          name: cereal_validations
-          path: openpilot/cereal/messaging/tests/cereal_validations
-      - name: 'Validate sunnypilot schema against upstream'
+
+      - name: Init upstream opendbc submodule
+        working-directory: upstream_openpilot
+        run: git submodule update --init --depth 1 opendbc_repo
+
+      - name: Install uv
+        run: pip install uv
+
+      - name: Generate sunnypilot schema
        run: |
-          export PYTHONPATH=${{ github.workspace }}/openpilot
-          chmod +x openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py
-          python3 openpilot/cereal/messaging/tests/cereal_validations/validate_sp_cereal_upstream.py -r -f openpilot/cereal/messaging/tests/cereal_validations/schema.json
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
+            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -g -f /tmp/sp_schema.json --cereal-dir cereal
+
+      - name: Validate against upstream
+        run: |
+          PYCAPNP_VER=$(python3 -c "import re; m=re.search(r'name = \"pycapnp\"\nversion = \"([^\"]+)\"', open('uv.lock').read()); print(m.group(1))")
+          uv run --isolated --with "pycapnp==${PYCAPNP_VER}" \
+            python3 cereal/messaging/tests/validate_sp_cereal_upstream.py \
+            -r -f /tmp/sp_schema.json --cereal-dir upstream_openpilot/cereal
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -170,6 +170,20 @@ sunnypilot Version 2026.001.000 (2026-05-06)
  * @royjr made their first contribution in "HKG: add KIA_FORTE_2019_NON_SCC fingerprint"
  * @ssysm made their first contribution in "Tesla: remove `TESLA_MODEL_X` from `dashcamOnly`"
 * Full Changelog: https://github.com/sunnypilot/sunnypilot/compare/v2025.002.000...v2026.001.000
+************************
+* Synced with commaai's openpilot (v0.11.1)
+  * master commit c001f3c9b490a80e69539f0af6022f6e07ceb721 (April 16, 2026)
+* New driver monitoring model
+* Improved image processing pipeline for driver camera
+* Rivian R1S and R1T 2025 support thanks to lukasloetkolben!
+* New driving model #36798
+  * Fully trained using a learned simulator
+  * Improved longitudinal performance in Experimental mode
+* Reduce comma four standby power usage by 77% to 52 mW
+* Kia K7 2017 support thanks to royjr!
+* Lexus LS 2018 support thanks to Hacheoy!
+* Improved inter-process communication memory efficiency
+* comma four support

 sunnypilot Version 2025.002.000 (2025-11-06)
 ========================
--- a/cereal/custom.capnp
+++ b/cereal/custom.capnp
@@ -342,6 +342,7 @@ struct OnroadEventSP @0xda96579883444c35 {
    speedLimitChanged @21;
    speedLimitPending @22;
    e2eChime @23;
+    laneChangeRoadEdge @24;
  }
 }

@@ -448,6 +449,8 @@ struct LiveMapDataSP @0xf416ec09499d9d19 {

 struct ModelDataV2SP @0xa1680744031fdb2d {
  laneTurnDirection @0 :TurnDirection;
+  leftLaneChangeEdgeBlock @1 :Bool;
+  rightLaneChangeEdgeBlock @2 :Bool;

  enum TurnDirection {
    none @0;
--- a/cereal/messaging/tests/validate_sp_cereal_upstream.py
+++ b/cereal/messaging/tests/validate_sp_cereal_upstream.py
@@ -13,6 +13,7 @@ from __future__ import annotations

 import argparse
 import json
+import os
 import sys
 from typing import Any

@@ -104,8 +105,15 @@ def collect_schema(root: Any) -> dict[str, dict]:
  return structs


-def dump_schema(path: str) -> None:
-  from cereal import log
+def load_log(cereal_dir: str) -> Any:
+  import capnp
+  cereal_dir = os.path.abspath(cereal_dir)
+  capnp.remove_import_hook()
+  return capnp.load(os.path.join(cereal_dir, "log.capnp"), imports=[cereal_dir])
+
+
+def dump_schema(cereal_dir: str, path: str) -> None:
+  log = load_log(cereal_dir)
  payload = {
    "root": hex_id(log.Event.schema.node.id),
    "structs": collect_schema(log.Event.schema),
@@ -206,8 +214,8 @@ def load_peer(path: str) -> dict:
    return json.load(handle)


-def run_read(peer_path: str) -> int:
-  from cereal import log
+def run_read(cereal_dir: str, peer_path: str) -> int:
+  log = load_log(cereal_dir)
  peer_dump = load_peer(peer_path)
  local_dump = {
    "root": hex_id(log.Event.schema.node.id),
@@ -235,16 +243,13 @@ def main() -> int:
  mode.add_argument("-g", "--generate", action="store_true", help="dump local schema to JSON")
  mode.add_argument("-r", "--read", action="store_true", help="load peer JSON and diff against local")
  parser.add_argument("-f", "--file", default="schema.json", help="JSON file path (default: schema.json)")
+  parser.add_argument("--cereal-dir", required=True, help="path to cereal directory containing log.capnp")
  args = parser.parse_args()

-  try:
-    if args.generate:
-      dump_schema(args.file)
-      return 0
-    return run_read(args.file)
-  except ImportError as exc:
-    print(f"error: cannot import cereal ({exc}). did scons build cereal?")
-    return 2
+  if args.generate:
+    dump_schema(args.cereal_dir, args.file)
+    return 0
+  return run_read(args.cereal_dir, args.file)


 if __name__ == "__main__":
--- a/common/model.h
+++ b/common/model.h
@@ -1 +0,0 @@
-#define DEFAULT_MODEL "POP model (Default)"
--- a/common/params_keys.h
+++ b/common/params_keys.h
@@ -178,6 +178,7 @@ inline static std::unordered_map<std::string, ParamKeyAttributes> keys = {
    {"QuickBootToggle", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"QuietMode", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RainbowMode", {PERSISTENT | BACKUP, BOOL, "0"}},
+    {"RoadEdgeLaneChangeEnabled", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"RocketFuel", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowAdvancedControls", {PERSISTENT | BACKUP, BOOL, "0"}},
    {"ShowTurnSignals", {PERSISTENT | BACKUP, BOOL, "0"}},
--- a/2
+++ b/2
--- a/selfdrive/car/card.py
+++ b/selfdrive/car/card.py
@@ -86,7 +86,7 @@ class Car:

    self.can_callbacks = can_comm_callbacks(self.can_sock, self.pm.sock['sendcan'])

-    is_release = self.params.get_bool("IsReleaseBranch")
+    is_release = False  # self.params.get_bool("IsReleaseBranch")
    is_release_sp = self.params.get_bool("IsReleaseSpBranch")

    if CI is None:
--- a/selfdrive/controls/lib/desire_helper.py
+++ b/selfdrive/controls/lib/desire_helper.py
@@ -56,7 +56,7 @@ class DesireHelper:
  def get_lane_change_direction(CS):
    return LaneChangeDirection.left if CS.leftBlinker else LaneChangeDirection.right

-  def update(self, carstate, lateral_active, lane_change_prob):
+  def update(self, carstate, lateral_active, lane_change_prob, left_edge_detected=False, right_edge_detected=False):
    self.alc.update_params()
    self.lane_turn_controller.update_params()
    v_ego = carstate.vEgo
@@ -88,8 +88,8 @@ class DesireHelper:
                         ((carstate.steeringTorque > 0 and self.lane_change_direction == LaneChangeDirection.left) or
                          (carstate.steeringTorque < 0 and self.lane_change_direction == LaneChangeDirection.right))

-        blindspot_detected = ((carstate.leftBlindspot and self.lane_change_direction == LaneChangeDirection.left) or
-                              (carstate.rightBlindspot and self.lane_change_direction == LaneChangeDirection.right))
+        blindspot_detected = (((carstate.leftBlindspot or left_edge_detected) and self.lane_change_direction == LaneChangeDirection.left) or
+                              ((carstate.rightBlindspot or right_edge_detected) and self.lane_change_direction == LaneChangeDirection.right))

        self.alc.update_lane_change(blindspot_detected, carstate.brakePressed)

--- a/selfdrive/selfdrived/selfdrived.py
+++ b/selfdrive/selfdrived/selfdrived.py
@@ -298,9 +298,16 @@ class SelfdriveD(CruiseHelper):
    # Handle lane change
    if self.sm['modelV2'].meta.laneChangeState == LaneChangeState.preLaneChange:
      direction = self.sm['modelV2'].meta.laneChangeDirection
+      mdv2sp = self.sm['modelDataV2SP']
+
      if (CS.leftBlindspot and direction == LaneChangeDirection.left) or \
-         (CS.rightBlindspot and direction == LaneChangeDirection.right):
+            (CS.rightBlindspot and direction == LaneChangeDirection.right):
        self.events.add(EventName.laneChangeBlocked)
+
+      elif (mdv2sp.leftLaneChangeEdgeBlock and direction == LaneChangeDirection.left) or \
+           (mdv2sp.rightLaneChangeEdgeBlock and direction == LaneChangeDirection.right):
+        self.events_sp.add(custom.OnroadEventSP.EventName.laneChangeRoadEdge)
+
      else:
        if direction == LaneChangeDirection.left:
          self.events.add(EventName.preLaneChangeLeft)
--- a/selfdrive/ui/layouts/settings/developer.py
+++ b/selfdrive/ui/layouts/settings/developer.py
@@ -36,7 +36,7 @@ class DeveloperLayout(Widget):
  def __init__(self):
    super().__init__()
    self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")

    # Build items and keep references for callbacks/state updates
    self._adb_toggle = toggle_item(
--- a/selfdrive/ui/layouts/settings/toggles.py
+++ b/selfdrive/ui/layouts/settings/toggles.py
@@ -42,7 +42,7 @@ class TogglesLayout(Widget):
  def __init__(self):
    super().__init__()
    self._params = Params()
-    self._is_release = self._params.get_bool("IsReleaseBranch")
+    self._is_release = False  # self._params.get_bool("IsReleaseBranch")

    # param, title, desc, icon, needs_restart
    self._toggle_defs = {
--- a/selfdrive/ui/sunnypilot/layouts/settings/models.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/models.py
@@ -10,6 +10,7 @@ import time
 import pyray as rl

 from cereal import custom
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.common.constants import CV
 from openpilot.selfdrive.ui.ui_state import device, ui_state
 from openpilot.system.ui.lib.multilang import tr
@@ -207,7 +208,7 @@ class ModelsLayout(Widget):
    for bundle in bundles:
      folders.setdefault(next((ov_ride.value for ov_ride in bundle.overrides if ov_ride.key == "folder"), ""), []).append(bundle)

-    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': tr("Default Model"), 'short_name': "Default"})])]
+    folders_list = [TreeFolder("", [TreeNode("Default", {'display_name': f"{DEFAULT_MODEL} (Default)", 'short_name': "Default"})])]
    for folder, folder_bundles in sorted(folders.items(), key=lambda x: max((bundle.index for bundle in x[1]), default=-1), reverse=True):
      folder_bundles.sort(key=lambda bundle: bundle.index, reverse=True)
      name = folder + (f" - (Updated: {m.group(1)})" if folder_bundles and (m := re.search(r'\(([^)]*)\)[^(]*$', folder_bundles[0].displayName)) else "")
@@ -243,7 +244,7 @@ class ModelsLayout(Widget):
    self._update_lagd_description(live_delay)
    self.model_manager = ui_state.sm["modelManagerSP"]
    self._handle_bundle_download_progress()
-    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else tr("Default Model")
+    active_name = self.model_manager.activeBundle.internalName if self.model_manager and self.model_manager.activeBundle.ref else f"{DEFAULT_MODEL} (Default)"
    self.current_model_item.action_item.set_value(active_name)

    if not ui_state.is_offroad():
--- a/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
+++ b/selfdrive/ui/sunnypilot/layouts/settings/steering_sub_layouts/lane_change_settings.py
@@ -51,11 +51,17 @@ class LaneChangeSettingsLayout(Widget):
      description=lambda: tr("Toggle to enable a delay timer for seamless lane changes when blind spot monitoring " +
                             "(BSM) detects a obstructing vehicle, ensuring safe maneuvering."),
    )
+    self._road_edge_block = toggle_item_sp(
+      param="RoadEdgeLaneChangeEnabled",
+      title=lambda: tr("Block Lane Change: Road Edge Detection"),
+      description=lambda: tr("Blocks the lane change if the model sees a road edge on your signaled side."),
+    )

    items = [
      self._lane_change_timer,
      LineSeparatorSP(40),
      self._bsm_delay,
+      self._road_edge_block,
    ]

    return items
--- a/selfdrive/ui/sunnypilot/mici/layouts/models.py
+++ b/selfdrive/ui/sunnypilot/mici/layouts/models.py
@@ -8,6 +8,7 @@ from collections.abc import Callable
 import pyray as rl

 from cereal import custom
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
 from openpilot.selfdrive.ui.mici.widgets.button import BigButton
 from openpilot.selfdrive.ui.sunnypilot.layouts.settings.models import ModelsLayout
 from openpilot.selfdrive.ui.ui_state import ui_state, device
@@ -27,7 +28,8 @@ class CurrentModelInfo(Widget):
    subheader_color = rl.Color(255, 255, 255, int(255 * 0.9 * 0.65))
    max_width = int(self._rect.width - 20)
    self.current_model_header = UnifiedLabel(tr("active model"), 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
-    self.current_model_text = UnifiedLabel(tr("default model"), 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)
+    default_text = f"{DEFAULT_MODEL} (Default)".lower()
+    self.current_model_text = UnifiedLabel(default_text, 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN, scroll=True)

    self.info_header = UnifiedLabel("cache size", 48, max_width=max_width, text_color=header_color, font_weight=FontWeight.DISPLAY)
    self.info_text = UnifiedLabel("0 mb", 32, max_width=max_width, text_color=subheader_color, font_weight=FontWeight.ROMAN)
@@ -98,7 +100,7 @@ class ModelsLayoutMici(NavScroller):

    folders = self._get_grouped_bundles(favorites)
    folder_buttons = []
-    default_btn = BigButton(tr("default model"))
+    default_btn = BigButton(f"{DEFAULT_MODEL} (Default)".lower())
    default_btn.set_click_callback(self._select_default)
    folder_buttons.append(default_btn)

@@ -168,7 +170,8 @@ class ModelsLayoutMici(NavScroller):
    self._was_downloading = is_downloading

    self.current_model_info.current_model_header.set_text(tr("active model"))
-    self.current_model_info.current_model_text.set_text(manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else tr("default model"))
+    model_text = manager.activeBundle.displayName.lower() if manager.activeBundle.index > 0 else f"{DEFAULT_MODEL} (Default)".lower()
+    self.current_model_info.current_model_text.set_text(model_text)
    self.current_model_info.info_header.set_text(tr("cache size"))
    self.current_model_info.info_text.set_text(f"{ModelsLayout.calculate_cache_size():.2f} MB")

--- a/selfdrive/ui/sunnypilot/ui_state.py
+++ b/selfdrive/ui/sunnypilot/ui_state.py
@@ -159,7 +159,6 @@ class UIStateSP:

  def _enforce_constraints(self) -> None:
    has_long = self.has_longitudinal_control
-    has_icbm = self.has_icbm
    CP = self.CP

    if CP is not None:
@@ -168,8 +167,8 @@ class UIStateSP:
        self.params.remove("EnforceTorqueControl")
        self.params.remove("NeuralNetworkLateralControl")

-      # Alpha longitudinal: clear if not available or on release branch
-      if not CP.alphaLongitudinalAvailable or self.params.get_bool("IsReleaseBranch"):
+      # Alpha longitudinal: clear if not available
+      if not CP.alphaLongitudinalAvailable:
        self.params.remove("AlphaLongitudinalEnabled")

      # BSM not available: clear BSM-dependent settings
@@ -181,21 +180,23 @@ class UIStateSP:
      self.params.remove("NeuralNetworkLateralControl")
      self.params.remove("AlphaLongitudinalEnabled")

-    # No longitudinal control: no experimental mode
+    # No longitudinal control: no experimental mode or DEC
    if not has_long:
      self.params.remove("ExperimentalMode")
+      self.params.remove("DynamicExperimentalControl")

    # ICBM: clear if not available or if full longitudinal control is active
    if self.CP_SP is not None:
      if not self.CP_SP.intelligentCruiseButtonManagementAvailable or has_long:
        self.params.remove("IntelligentCruiseButtonManagement")
+        self.has_icbm = False
    else:
      self.params.remove("IntelligentCruiseButtonManagement")
+      self.has_icbm = False

    # Cruise features requiring longitudinal or ICBM
-    if not (has_long or has_icbm):
+    if not (has_long or self.has_icbm):
      self.params.remove("CustomAccIncrementsEnabled")
-      self.params.remove("DynamicExperimentalControl")
      self.params.remove("SmartCruiseControlVision")
      self.params.remove("SmartCruiseControlMap")

--- a/selfdrive/ui/ui_state.py
+++ b/selfdrive/ui/ui_state.py
@@ -74,7 +74,7 @@ class UIState(UIStateSP):

    # Core state variables
    self.is_metric: bool = self.params.get_bool("IsMetric")
-    self.is_release = self.params.get_bool("IsReleaseBranch")
+    self.is_release = False  # self.params.get_bool("IsReleaseBranch")
    self.always_on_dm: bool = self.params.get_bool("AlwaysOnDM")
    self.started: bool = False
    self.ignition: bool = False
--- a/sunnypilot/modeld_v2/modeld.py
+++ b/sunnypilot/modeld_v2/modeld.py
@@ -34,6 +34,7 @@ from openpilot.sunnypilot.livedelay.helpers import get_lat_delay
 from openpilot.sunnypilot.modeld_v2.modeld_base import ModelStateBase
 from openpilot.sunnypilot.models.helpers import get_active_bundle
 from openpilot.sunnypilot.models.runners.helpers import get_model_runner
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController

 PROCESS_NAME = "selfdrive.modeld.modeld_tinygrad"

@@ -246,6 +247,9 @@ def main(demo=False):
  prev_action = log.ModelDataV2.Action()

  DH = DesireHelper()
+  RELC = RoadEdgeLaneChangeController(DH)
+
+

  while True:
    # Keep receiving frames until we are at least 1 frame ahead of previous extra frame
@@ -349,7 +353,10 @@ def main(demo=False):
      l_lane_change_prob = desire_state[log.Desire.laneChangeLeft]
      r_lane_change_prob = desire_state[log.Desire.laneChangeRight]
      lane_change_prob = l_lane_change_prob + r_lane_change_prob
-      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob)
+      RELC.update(modelv2_send.modelV2.roadEdgeStds, modelv2_send.modelV2.laneLineProbs, v_ego)
+      mdv2sp_send.modelDataV2SP.leftLaneChangeEdgeBlock = RELC.left_edge_detected
+      mdv2sp_send.modelDataV2SP.rightLaneChangeEdgeBlock = RELC.right_edge_detected
+      DH.update(sm['carState'], sm['carControl'].latActive, lane_change_prob, RELC.left_edge_detected, RELC.right_edge_detected)
      modelv2_send.modelV2.meta.laneChangeState = DH.lane_change_state
      modelv2_send.modelV2.meta.laneChangeDirection = DH.lane_change_direction
      mdv2sp_send.modelDataV2SP.laneTurnDirection = DH.lane_turn_direction
--- a/sunnypilot/models/default_model.py
+++ b/sunnypilot/models/default_model.py
@@ -4,8 +4,9 @@ import hashlib

 from openpilot.common.basedir import BASEDIR
 from openpilot.sunnypilot import get_file_hash
+from openpilot.sunnypilot.models.model_name import DEFAULT_MODEL

-DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "common", "model.h")
+DEFAULT_MODEL_NAME_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "model_name.py")
 MODEL_HASH_PATH = os.path.join(BASEDIR, "sunnypilot", "models", "tests", "model_hash")
 VISION_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_vision.onnx")
 POLICY_ONNX_PATH = os.path.join(BASEDIR, "selfdrive", "modeld", "models", "driving_policy.onnx")
@@ -25,8 +26,7 @@ def update_model_hash():

 def get_current_default_model_name():
  print("[GET DEFAULT MODEL NAME]")
-  with open(DEFAULT_MODEL_NAME_PATH) as f:
-    name = f.read().split('"')[1]
+  name = DEFAULT_MODEL
  print(f'Current default model name: "{name}"')

  return name
@@ -35,7 +35,7 @@ def get_current_default_model_name():
 def update_default_model_name(name: str):
  print("[CHANGE DEFAULT MODEL NAME]")
  with open(DEFAULT_MODEL_NAME_PATH, "w") as f:
-    f.write(f'#define DEFAULT_MODEL "{name}"\n')
+    f.write(f'DEFAULT_MODEL = "{name}"\n')
  print(f'New default model name: "{name}"')
  print("[DONE]")

@@ -51,7 +51,7 @@ if __name__ == "__main__":
    exit(0)

  current_name = get_current_default_model_name()
-  new_name = f"{args.new_name} (Default)"
+  new_name = args.new_name
  if current_name == new_name:
    print(f'Proposed default model name: "{new_name}"')
    confirm = input("Proposed default model name is the same as the current default model name. Confirm? (y/n): ").upper().strip()
--- a/sunnypilot/models/model_name.py
+++ b/sunnypilot/models/model_name.py
@@ -0,0 +1 @@
+DEFAULT_MODEL = "POP model"
--- a/sunnypilot/selfdrive/car/sync_sunnylink_params.py
+++ b/sunnypilot/selfdrive/car/sync_sunnylink_params.py
--- a/sunnypilot/selfdrive/controls/lib/relc.py
+++ b/sunnypilot/selfdrive/controls/lib/relc.py
@@ -0,0 +1,84 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import numpy as np
+
+from openpilot.common.constants import CV
+from openpilot.common.realtime import DT_MDL
+from openpilot.common.params import Params
+
+NEARSIDE_PROB = 0.2
+EDGE_PROB = 0.35
+EDGE_REACTION_TIME = 1.0
+EDGE_CLEAR_TIME = 0.3
+MIN_SPEED = 20 * CV.MPH_TO_MS
+
+
+class RoadEdgeLaneChangeController:
+  def __init__(self, desire_helper):
+    self.DH = desire_helper
+    self.params = Params()
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+    self.param_read_counter = 0
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def read_params(self) -> None:
+    self.enabled = self.params.get_bool("RoadEdgeLaneChangeEnabled")
+
+  def update_params(self) -> None:
+    if self.param_read_counter % 50 == 0:
+      self.read_params()
+    self.param_read_counter += 1
+
+  def reset(self) -> None:
+    self.left_edge_detected = False
+    self.right_edge_detected = False
+    self.left_edge_timer = 0.0
+    self.right_edge_timer = 0.0
+    self.left_clear_timer = 0.0
+    self.right_clear_timer = 0.0
+
+  def update(self, road_edge_stds, lane_line_probs, v_ego: float) -> None:
+    self.update_params()
+
+    if not self.enabled or v_ego < MIN_SPEED:
+      self.reset()
+      return
+
+    left_edge_prob = np.clip(1.0 - road_edge_stds[0], 0.0, 1.0)
+    right_edge_prob = np.clip(1.0 - road_edge_stds[1], 0.0, 1.0)
+    left_lane_prob = lane_line_probs[0]
+    right_lane_prob = lane_line_probs[3]
+
+    left_cond = left_edge_prob > EDGE_PROB and left_lane_prob < NEARSIDE_PROB and right_lane_prob >= left_lane_prob
+    right_cond = right_edge_prob > EDGE_PROB and right_lane_prob < NEARSIDE_PROB and left_lane_prob >= right_lane_prob
+
+    if left_cond:
+      self.left_edge_timer = min(self.left_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.left_clear_timer = 0.0
+      if self.left_edge_timer > EDGE_REACTION_TIME:
+        self.left_edge_detected = True
+    else:
+      self.left_clear_timer += DT_MDL
+      if self.left_clear_timer > EDGE_CLEAR_TIME:
+        self.left_edge_timer = 0.0
+        self.left_edge_detected = False
+
+    if right_cond:
+      self.right_edge_timer = min(self.right_edge_timer + DT_MDL, EDGE_REACTION_TIME + EDGE_CLEAR_TIME)
+      self.right_clear_timer = 0.0
+      if self.right_edge_timer > EDGE_REACTION_TIME:
+        self.right_edge_detected = True
+    else:
+      self.right_clear_timer += DT_MDL
+      if self.right_clear_timer > EDGE_CLEAR_TIME:
+        self.right_edge_timer = 0.0
+        self.right_edge_detected = False
--- a/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_lane_turn_desire.py
@@ -5,6 +5,8 @@ from openpilot.common.params import Params
 from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
 from openpilot.sunnypilot.selfdrive.controls.lib.lane_turn_desire import LaneTurnController, LANE_CHANGE_SPEED_MIN
 from openpilot.sunnypilot.selfdrive.controls.lib.auto_lane_change import AutoLaneChangeMode
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import RoadEdgeLaneChangeController
+

 TurnDirection = custom.ModelDataV2SP.TurnDirection

@@ -107,7 +109,11 @@ def set_lane_turn_params():
 ])
 def test_desire_helper_integration(carstate, lateral_active, lane_change_prob, expected_desire, set_lane_turn_params):
  dh = DesireHelper()
+  relc = RoadEdgeLaneChangeController(dh)
+  relc.enabled = True
  dh.alc.lane_change_set_timer = AutoLaneChangeMode.NUDGE
  for _ in range(10):
-    dh.update(carstate, lateral_active, lane_change_prob)
+    dh.update(carstate, lateral_active, lane_change_prob,
+              left_edge_detected=relc.left_edge_detected, right_edge_detected=relc.right_edge_detected)
  assert dh.desire == expected_desire  # The first four tests were unit tests to test the controller, where this tests the integration in desire helpers
+
--- a/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
+++ b/sunnypilot/selfdrive/controls/lib/tests/test_relc.py
@@ -0,0 +1,99 @@
+"""
+Copyright (c) 2021-, rav4kumar, Haibin Wen, sunnypilot, and a number of other contributors.
+
+This file is part of sunnypilot and is licensed under the MIT License.
+See the LICENSE.md file in the root directory for more details.
+"""
+import pytest
+
+from openpilot.common.realtime import DT_MDL
+from openpilot.selfdrive.controls.lib.desire_helper import DesireHelper
+from openpilot.sunnypilot.selfdrive.controls.lib.relc import (
+  RoadEdgeLaneChangeController, EDGE_REACTION_TIME, EDGE_CLEAR_TIME, MIN_SPEED,
+)
+
+V_HIGH = MIN_SPEED + 2.0
+V_LOW = MIN_SPEED - 1.0
+
+
+@pytest.fixture
+def relc(mocker):
+  mock_params = mocker.patch("openpilot.sunnypilot.selfdrive.controls.lib.relc.Params")
+  mock_params.return_value.get_bool.return_value = True
+  controller = RoadEdgeLaneChangeController(DesireHelper())
+  controller.enabled = True
+  return controller
+
+
+def drive(controller, road_edge_stds, lane_line_probs, seconds, v_ego=V_HIGH):
+  for _ in range(int(seconds / DT_MDL) + 1):
+    controller.update(road_edge_stds, lane_line_probs, v_ego)
+
+
+@pytest.mark.parametrize("road_edge_stds,lane_line_probs,attr", [
+  ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], "left_edge_detected"),
+  ([0.9, 0.0], [0.8, 0.8, 0.8, 0.0], "right_edge_detected"),
+])
+def test_edge_detection(relc, road_edge_stds, lane_line_probs, attr):
+  drive(relc, road_edge_stds, lane_line_probs, EDGE_REACTION_TIME + 0.1)
+  assert getattr(relc, attr)
+
+
+def test_edge_detection_requires_time(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME - 0.05)
+  assert not relc.left_edge_detected
+
+
+def test_both_edges_detected(relc):
+  drive(relc, [0.0, 0.0], [0.0, 0.8, 0.8, 0.0], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+  assert relc.right_edge_detected
+
+
+def test_noise_doesnt_clear(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update(*clear, V_HIGH)
+  relc.update(*edge, V_HIGH)
+  assert relc.left_edge_detected
+
+
+def test_clears_after_window(relc):
+  edge = ([0.0, 0.9], [0.0, 0.8, 0.8, 0.8])
+  clear = ([0.9, 0.9], [0.8, 0.8, 0.8, 0.8])
+
+  drive(relc, *edge, EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  drive(relc, *clear, EDGE_CLEAR_TIME + 0.05)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_low_speed_skips(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1, v_ego=V_LOW)
+  assert not relc.left_edge_detected
+  assert relc.left_edge_timer == 0.0
+
+
+def test_speed_drop_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_LOW)
+  assert not relc.left_edge_detected
+
+
+def test_param_off_resets(relc):
+  drive(relc, [0.0, 0.9], [0.0, 0.8, 0.8, 0.8], EDGE_REACTION_TIME + 0.1)
+  assert relc.left_edge_detected
+
+  relc.params.get_bool.return_value = False
+  relc.read_params()
+  relc.update([0.0, 0.9], [0.0, 0.8, 0.8, 0.8], V_HIGH)
+  assert not relc.left_edge_detected
+  assert not relc.right_edge_detected
--- a/sunnypilot/selfdrive/selfdrived/events.py
+++ b/sunnypilot/selfdrive/selfdrived/events.py
@@ -243,4 +243,12 @@ EVENTS_SP: dict[int, dict[str, Alert | AlertCallbackType]] = {
      AlertStatus.normal, AlertSize.none,
      Priority.MID, VisualAlert.none, AudibleAlert.prompt, 3.),
  },
+
+  EventNameSP.laneChangeRoadEdge: {
+    ET.WARNING: Alert(
+      "Lane Change Unavailable: Road Edge",
+      "",
+      AlertStatus.userPrompt, AlertSize.small,
+      Priority.LOW, VisualAlert.none, AudibleAlert.prompt, 0.1),
+  },
 }
--- a/sunnypilot/sunnylink/athena/sunnylinkd.py
+++ b/sunnypilot/sunnylink/athena/sunnylinkd.py
@@ -28,7 +28,8 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
                       create_connection, WebSocketConnectionClosedException)

 import cereal.messaging as messaging
-from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import update_car_list_param
+from openpilot.sunnypilot.models.default_model import DEFAULT_MODEL
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import update_car_list_param
 from openpilot.sunnypilot.sunnylink.api import SunnylinkApi
 from openpilot.sunnypilot.sunnylink.utils import sunnylink_need_register, sunnylink_ready, get_param_as_byte, save_param_from_base64_encoded_string
 from openpilot.sunnypilot.sunnylink.capabilities import generate_capabilities, CAPABILITY_LABELS
@@ -214,6 +215,7 @@ def getParamsMetadata() -> str:
    schema = generate_schema()
    schema["capabilities"] = generate_capabilities()
    schema["capability_labels"] = CAPABILITY_LABELS
+    schema["default_model"] = DEFAULT_MODEL
    raw = json.dumps(schema, separators=(",", ":")).encode("utf-8")
    return base64.b64encode(gzip.compress(raw)).decode("utf-8")
  except Exception:
--- a/sunnypilot/sunnylink/capabilities.py
+++ b/sunnypilot/sunnylink/capabilities.py
@@ -78,6 +78,38 @@ def _bundle_field(bundle: dict | None, key: str) -> str:
  return bundle.get(key, "") if isinstance(bundle, dict) else ""


+def _resolve_brand_capabilities(caps: dict, bundle_platform: str, CP) -> None:
+  """Set brand-specific capabilities from bundle platform or CarParams fallback.
+
+  Bundle (manual car selection) is a pre-fingerprint approximation.
+  CarParams (auto-fingerprint) is the authoritative post-fingerprint source.
+  Mirrors the per-brand update_settings() logic in device UI layouts.
+  """
+  brand = caps["brand"]
+
+  if brand == "hyundai":
+    if bundle_platform:
+      try:
+        unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
+        caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["hyundai_alpha_long_available"] = bool(CP.alphaLongitudinalAvailable)
+
+  elif brand == "subaru":
+    if bundle_platform:
+      try:
+        flags = SUBARU_CAR[bundle_platform].config.flags
+        caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+        caps["has_stop_and_go"] = caps["subaru_has_sng"]
+      except KeyError:
+        cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
+    elif CP is not None:
+      caps["subaru_has_sng"] = not bool(CP.flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
+      caps["has_stop_and_go"] = caps["subaru_has_sng"]
+
+
 def generate_capabilities(params: Params | None = None) -> dict:
  """Generate a SettingsCapabilities dict from CarParams + boolean params.

@@ -94,7 +126,7 @@ def generate_capabilities(params: Params | None = None) -> dict:

  # Hardware + boolean params (no CarParams dependency)
  caps["device_type"] = HARDWARE.get_device_type()
-  caps["is_release"] = params.get_bool("IsReleaseBranch")
+  caps["is_release"] = False  # params.get_bool("IsReleaseBranch")
  caps["is_sp_release"] = params.get_bool("IsReleaseSpBranch")
  caps["is_development"] = params.get_bool("IsDevelopmentBranch")
  caps["stock_longitudinal"] = params.get_bool("ToyotaEnforceStockLongitudinal")
@@ -108,6 +140,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
    caps["brand"] = bundle_brand

  # CarParams-derived capabilities
+  CP = None
  CP_bytes = params.get("CarParamsPersistent")
  if CP_bytes is not None:
    try:
@@ -129,6 +162,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
      # Generic SnG fallback. Brand-specific opaque flags below override.
      caps["has_stop_and_go"] = bool(CP.openpilotLongitudinalControl)
    except Exception:
+      CP = None
      cloudlog.exception("capabilities: failed to deserialize CarParamsPersistent")

  # CarParamsSP-derived capabilities
@@ -142,23 +176,7 @@ def generate_capabilities(params: Params | None = None) -> dict:
    except Exception:
      cloudlog.exception("capabilities: failed to deserialize CarParamsSPPersistent")

-  # Brand-specific opaque flags. Mirror Raylib brand-settings logic so the
-  # device and the dashboard agree on per-platform availability without
-  # leaking the platform identifier over the wire.
-  if caps["brand"] == "subaru" and bundle_platform:
-    try:
-      flags = SUBARU_CAR[bundle_platform].config.flags
-      caps["subaru_has_sng"] = not bool(flags & (SubaruFlags.GLOBAL_GEN2 | SubaruFlags.HYBRID))
-      caps["has_stop_and_go"] = caps["subaru_has_sng"]
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown subaru platform {bundle_platform!r}")
-
-  if caps["brand"] == "hyundai" and bundle_platform:
-    try:
-      unsupported = set().union(*UNSUPPORTED_LONGITUDINAL_CAR.values())
-      caps["hyundai_alpha_long_available"] = HYUNDAI_CAR[bundle_platform] not in unsupported
-    except KeyError:
-      cloudlog.exception(f"capabilities: unknown hyundai platform {bundle_platform!r}")
+  _resolve_brand_capabilities(caps, bundle_platform, CP)

  return caps

--- a/sunnypilot/sunnylink/docs/README.md
+++ b/sunnypilot/sunnylink/docs/README.md
@@ -2,8 +2,6 @@

 > One YAML file per page. Edit, run the compiler, commit. The sunnylink frontend updates automatically.

-For detailed architecture, capability fields, parity analysis, and dialog mappings, see [REFERENCE.md](REFERENCE.md).
-
 ## What you edit (and what's generated)

 | File | What | When to edit |
--- a/sunnypilot/sunnylink/params_metadata.json
+++ b/sunnypilot/sunnylink/params_metadata.json
@@ -1114,6 +1114,10 @@
    "title": "Record Front Lock",
    "description": ""
  },
+  "RoadEdgeLaneChangeEnabled": {
+    "title": "Block Lane Change: Road Edge Detection",
+    "description": ""
+  },
  "RoadName": {
    "title": "Road Name",
    "description": ""
--- a/sunnypilot/sunnylink/settings_ui.json
+++ b/sunnypilot/sunnylink/settings_ui.json
@@ -519,6 +519,12 @@
                }
              ]
            },
+            {
+              "key": "RoadEdgeLaneChangeEnabled",
+              "widget": "toggle",
+              "title": "Block Lane Change: Road Edge Detection",
+              "description": "Blocks lane change when the model sees a road edge on the side you signal."
+            },
            {
              "key": "AutoLaneChangeBsmDelay",
              "widget": "toggle",
@@ -574,19 +580,9 @@
              "description": "Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.",
              "visibility": [
                {
-                  "type": "any",
-                  "conditions": [
-                    {
-                      "type": "capability",
-                      "field": "has_longitudinal_control",
-                      "equals": true
-                    },
-                    {
-                      "type": "capability",
-                      "field": "has_icbm",
-                      "equals": true
-                    }
-                  ]
+                  "type": "capability",
+                  "field": "has_longitudinal_control",
+                  "equals": true
                }
              ],
              "enablement": [
@@ -1603,47 +1599,47 @@
                  "label": "Always On"
                },
                {
-                  "value": 1,
+                  "value": 5,
                  "label": "5m"
                },
                {
-                  "value": 2,
+                  "value": 10,
                  "label": "10m"
                },
                {
-                  "value": 3,
+                  "value": 15,
                  "label": "15m"
                },
                {
-                  "value": 4,
+                  "value": 30,
                  "label": "30m"
                },
                {
-                  "value": 5,
+                  "value": 60,
                  "label": "1h"
                },
                {
-                  "value": 6,
+                  "value": 120,
                  "label": "2h"
                },
                {
-                  "value": 7,
+                  "value": 180,
                  "label": "3h"
                },
                {
-                  "value": 8,
+                  "value": 300,
                  "label": "5h"
                },
                {
-                  "value": 9,
+                  "value": 600,
                  "label": "10h"
                },
                {
-                  "value": 10,
+                  "value": 1440,
                  "label": "24h"
                },
                {
-                  "value": 11,
+                  "value": 1800,
                  "label": "30h (Default)"
                }
              ]
@@ -1731,26 +1727,6 @@
              "key": "JoystickDebugMode",
              "widget": "toggle",
              "title": "Joystick Debug Mode",
-              "visibility": [
-                {
-                  "type": "not",
-                  "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
-                  }
-                }
-              ],
              "enablement": [
                {
                  "type": "offroad_only"
@@ -1775,19 +1751,9 @@
                    {
                      "type": "not",
                      "condition": {
-                        "type": "any",
-                        "conditions": [
-                          {
-                            "type": "capability",
-                            "field": "is_release",
-                            "equals": true
-                          },
-                          {
-                            "type": "capability",
-                            "field": "is_sp_release",
-                            "equals": true
-                          }
-                        ]
+                        "type": "capability",
+                        "field": "has_icbm",
+                        "equals": true
                      }
                    }
                  ]
@@ -1900,19 +1866,9 @@
                {
                  "type": "not",
                  "condition": {
-                    "type": "any",
-                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
-                      {
-                        "type": "capability",
-                        "field": "is_sp_release",
-                        "equals": true
-                      }
-                    ]
+                    "type": "capability",
+                    "field": "is_sp_release",
+                    "equals": true
                  }
                }
              ],
@@ -1947,11 +1903,6 @@
                  "condition": {
                    "type": "any",
                    "conditions": [
-                      {
-                        "type": "capability",
-                        "field": "is_release",
-                        "equals": true
-                      },
                      {
                        "type": "capability",
                        "field": "is_sp_release",
--- a/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/_macros.yaml
@@ -59,12 +59,7 @@ macros:
            - type: not
              condition: {type: capability, field: tesla_has_vehicle_bus, equals: true}

-  # Hide everything but a clearly-marked release branch (matches Raylib
-  # _is_release_branch = is_release OR is_sp_release).
+  # Hide on sunnypilot release branches (is_release is hardcoded False everywhere; is_sp_release is the active gate).
  release_branches_hide:
    - type: not
-      condition:
-        type: any
-        conditions:
-          - {type: capability, field: is_release, equals: true}
-          - {type: capability, field: is_sp_release, equals: true}
+      condition: {type: capability, field: is_sp_release, equals: true}
--- a/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/cruise.yaml
@@ -21,14 +21,7 @@ sections:
    title: Dynamic Experimental Control
    description: Let the model decide when to use sunnypilot ACC or sunnypilot End to End Longitudinal.
    visibility:
-    - type: any
-      conditions:
-      - type: capability
-        field: has_longitudinal_control
-        equals: true
-      - type: capability
-        field: has_icbm
-        equals: true
+    - $ref: '#/macros/longitudinal'
    enablement:
    - $ref: '#/macros/longitudinal'
  - key: DisengageOnAccelerator
--- a/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/developer.yaml
@@ -26,8 +26,6 @@ sections:
  - key: JoystickDebugMode
    widget: toggle
    title: Joystick Debug Mode
-    visibility:
-    - $ref: '#/macros/release_branches_hide'
    enablement:
    - $ref: '#/macros/offroad'
  - key: AlphaLongitudinalEnabled
@@ -46,14 +44,9 @@ sections:
        equals: true
      - type: not
        condition:
-          type: any
-          conditions:
-          - type: capability
-            field: is_release
-            equals: true
-          - type: capability
-            field: is_sp_release
-            equals: true
+          type: capability
+          field: has_icbm
+          equals: true
    enablement:
    - $ref: '#/macros/not_engaged'
  - key: ShowDebugInfo
@@ -131,9 +124,6 @@ sections:
      condition:
        type: any
        conditions:
-        - type: capability
-          field: is_release
-          equals: true
        - type: capability
          field: is_sp_release
          equals: true
--- a/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
+++ b/sunnypilot/sunnylink/settings_ui_src/pages/device.yaml
@@ -37,27 +37,27 @@ sections:
    options:
    - value: 0
      label: Always On
-    - value: 1
-      label: 5m
-    - value: 2
-      label: 10m
-    - value: 3
-      label: 15m
-    - value: 4
-      label: 30m
    - value: 5
-      label: 1h
-    - value: 6
-      label: 2h
-    - value: 7
-      label: 3h
-    - value: 8
-      label: 5h
-    - value: 9
-      label: 10h
+      label: 5m
    - value: 10
+      label: 10m
+    - value: 15
+      label: 15m
+    - value: 30
+      label: 30m
+    - value: 60
+      label: 1h
+    - value: 120
+      label: 2h
+    - value: 180
+      label: 3h
+    - value: 300
+      label: 5h
+    - value: 600
+      label: 10h
+    - value: 1440
      label: 24h
-    - value: 11
+    - value: 1800
      label: 30h (Default)
 - id: language
  title: Language
--- a/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
+++ b/sunnypilot/sunnylink/tests/test_compile_settings_ui.py
@@ -15,6 +15,7 @@ compiled output once the compiler has produced it.
 """
 from __future__ import annotations

+import difflib
 import json
 import os

@@ -44,7 +45,16 @@ def committed() -> dict:
 class TestRoundtrip:
  def test_compiled_matches_committed(self, compiled, committed):
    """Compiled output must match the checked-in JSON."""
-    assert compiled == committed
+    if compiled == committed:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      json.dumps(committed, indent=2).splitlines(),
+      json.dumps(compiled, indent=2).splitlines(),
+      fromfile="settings_ui.json (committed)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json schema mismatch — run compile_settings_ui.py\n\n{diff}")

  def test_committed_file_is_canonical(self):
    """Compiled output must byte-match the checked-in file (including trailing newline).
@@ -53,7 +63,16 @@ class TestRoundtrip:
    rendered = json.dumps(schema, indent=2) + "\n"
    with open(DEFAULT_OUT) as f:
      current = f.read()
-    assert current == rendered, "settings_ui.json out of sync — run compile_settings_ui.py"
+    if current == rendered:
+      return
+    diff = "\n".join(difflib.unified_diff(
+      current.splitlines(),
+      rendered.splitlines(),
+      fromfile="settings_ui.json (on disk)",
+      tofile="settings_ui.json (freshly compiled)",
+      lineterm="",
+    ))
+    pytest.fail(f"settings_ui.json out of sync — run compile_settings_ui.py\n\n{diff}")


 class TestRefResolution:
--- a/sunnypilot/sunnylink/tests/test_settings_changes.py
+++ b/sunnypilot/sunnylink/tests/test_settings_changes.py
@@ -181,17 +181,14 @@ class TestTorqueOptionGeneration:

 class TestReleaseBranchGates:
  @pytest.mark.parametrize("key", [
-    "JoystickDebugMode",
-    "AlphaLongitudinalEnabled",
    "EnableGithubRunner",
    "QuickBootToggle",
  ])
  def test_sp_dev_items_gate_on_is_sp_release(self, schema, key):
-    """SP dev items must hide on either release branch (is_release OR is_sp_release)."""
+    """sunnypilot dev items must hide on sunnypilot release branches (is_sp_release gate)."""
    item = _find_item(schema, key)
    assert item is not None, f"{key} not found in schema"
    rules = (item.get("visibility") or []) + (item.get("enablement") or [])
-    assert _references_capability_field(rules, "is_release"), f"{key} missing is_release gate"
    assert _references_capability_field(rules, "is_sp_release"), f"{key} missing is_sp_release gate"


--- a/sunnypilot/system/params_migration.py
+++ b/sunnypilot/system/params_migration.py
@@ -7,7 +7,7 @@ See the LICENSE.md file in the root directory for more details.
 import json

 from openpilot.common.swaglog import cloudlog
-from openpilot.sunnypilot.selfdrive.car.sync_car_list_param import CAR_LIST_JSON_OUT
+from openpilot.sunnypilot.selfdrive.car.sync_sunnylink_params import CAR_LIST_JSON_OUT

 ONROAD_BRIGHTNESS_MIGRATION_VERSION: str = "1.0"
 ONROAD_BRIGHTNESS_TIMER_MIGRATION_VERSION: str = "1.0"
--- a/system/manager/manager.py
+++ b/system/manager/manager.py
@@ -35,8 +35,8 @@ def manager_init() -> None:
  params.clear_all(ParamKeyFlag.CLEAR_ON_ONROAD_TRANSITION)
  params.clear_all(ParamKeyFlag.CLEAR_ON_OFFROAD_TRANSITION)
  params.clear_all(ParamKeyFlag.CLEAR_ON_IGNITION_ON)
-  if build_metadata.release_channel:
-    params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)
+  # if build_metadata.release_channel:
+  #   params.clear_all(ParamKeyFlag.DEVELOPMENT_ONLY)

  # device boot mode
  if params.get("DeviceBootMode") == 1:  # start in Always Offroad mode
--- a/uv.lock
+++ b/uv.lock
@@ -116,12 +116,12 @@ wheels = [
 [[package]]
 name = "bzip2"
 version = "1.0.8"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#7876f40b7a3e9f0d634a60586043395169ef1a82" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=bzip2&rev=release-bzip2#346fa1e479d7324d446f32b2cbe2913897372745" }

 [[package]]
 name = "capnproto"
 version = "1.0.1"
-source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#bcd0c43cb9dbd3b48aad36812bae9498fb5c7be1" }
+source = { git = "https://github.com/commaai/dependencies.git?subdirectory=capnproto&rev=release-capnproto#b4fd14982cbff568be0e021f55c0ef90c29da934" }

 [[package]]
 name = "casadi"
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+version = "7.14.0"
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 [[package]]
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Author	SHA1	Message	Date
rav4kumar	e1f2f2b43e	clean up	2026-05-15 18:54:31 -07:00
rav4kumar	e66840ac5b	so picky	2026-05-15 18:24:26 -07:00
rav4kumar	a23cd7dddc	relc	2026-05-15 18:24:00 -07:00
github-actions[bot]	c51ffe3808	[bot] Update Python packages (#1827 ) Update Python packages Co-authored-by: github-actions[bot] <github-actions[bot]@users.noreply.github.com> Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-05-14 02:24:09 -04:00
Jason Wen	a15aed1a79	sunnylink: add CarParams fallback for brand-specific capabilities (#1839 ) Brand-specific capabilities (hyundai_alpha_long_available, subaru_has_sng) only resolved from CarPlatformBundle, which requires manual car selection. Auto-fingerprinted vehicles had no bundle, leaving these capabilities at default false — hiding vehicle settings on the dashboard despite working on the device UI. Add _resolve_brand_capabilities() with bundle-first, CP-fallback pattern matching the device UI layouts (hyundai.py, subaru.py). Fixes https://community.sunnypilot.ai/t/5126	2026-05-13 01:29:18 -04:00
Nayan	78007e82e0	ui: show default model name (#1837 ) * py py py * sunnylink too * refactor * this is not needed anymore * mici mici * ugh * retry CI * ui: refactor default model name handling Move DEFAULT_MODEL constant into sunnypilot/models/default_model.py and remove the one-liner common/model.py. Strip the hardcoded " (Default)" suffix from the constant value so each UI site appends it contextually, keeping the raw model name clean for the schema payload to sunnylink. Replace the DefaultModel param approach with schema["default_model"] injected at schema assembly time, eliminating a redundant param write on every sunnylinkd start. Remove DefaultModel from params_keys.h and params_metadata.json. Update update_default_model_name() to do a targeted regex replacement instead of overwriting the whole file, since the constant now lives in a module with other code. --------- Co-authored-by: Jason Wen <haibin.wen3@gmail.com>	2026-05-11 01:19:10 -04:00
Jason Wen	b1a6223b14	ci: simplify cereal validation to sparse-checkout + pycapnp, drop scons (#1836 ) * ci: simplify cereal validation to sparse-checkout + pycapnp, drop scons build Co-Authored-By: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com> * more * fix: resolve cereal_dir to absolute path before passing to capnp.load Co-Authored-By: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com> * ci: init opendbc submodule after sparse checkout to resolve car.capnp symlink Co-Authored-By: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com> * try to break it * Revert "try to break it" This reverts commit `79ce135c5f`. * try to break it * Revert "try to break it" This reverts commit `1eaa9e79e6`. --------- Co-authored-by: Claude Sonnet 4.6 (1M context) <noreply@anthropic.com>	2026-05-10 01:04:45 -04:00
Nayan	e771dfa007	sunnylink: fix max time offroad values (#1835 ) fix sunnylink values	2026-05-09 23:47:07 -04:00
Jason Wen	c28eb95874	manager: disable DEVELOPMENT_ONLY reset (#1833 )	2026-05-07 18:42:06 -04:00
Jason Wen	7ed960f713	release: ignore upstream IsReleaseBranch (#1831 )	2026-05-07 10:53:21 -04:00
Jason Wen	7e2b8430c5	ui: update gates for certain toggles (#1830 ) * don't use upstream's * clean * update schema * fix * mismatch test and fix	2026-05-06 21:27:43 -04:00
Jason Wen	521fa09b0d	sunnylink SDUI: update stale reference in docs	2026-05-06 12:14:47 -04:00
Jason Wen	b9aa1962ca	Update CHANGELOG.md	2026-05-05 22:59:44 -04:00
				`@@ -1 +0,0 @@`
				`#define DEFAULT_MODEL "POP model (Default)"`